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<p><code>#include &lt;<a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>&gt;</code></p>
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  <img id="dynsection-0-trigger" src="../../closed.png" alt="+"/> Inheritance diagram for LegControllerCommand&lt; T &gt;:</div>
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Public Member Functions</h2></td></tr>
<tr class="memitem:aec04c8f9e2e28413b812a4a6b53c01d1"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d6a/struct_leg_controller_command.html#aec04c8f9e2e28413b812a4a6b53c01d1">LegControllerCommand</a> ()</td></tr>
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<tr class="memitem:aa66fb97d3c112966b0eb4c82cd607541"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d6a/struct_leg_controller_command.html#aa66fb97d3c112966b0eb4c82cd607541">zero</a> ()</td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:afb0e544cbf0f965948916ea3c8839ac8"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d6a/struct_leg_controller_command.html#afb0e544cbf0f965948916ea3c8839ac8">tauFeedForward</a></td></tr>
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<tr class="memitem:adaa50bd4631e1aee42551eb6d8070295"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d6a/struct_leg_controller_command.html#adaa50bd4631e1aee42551eb6d8070295">forceFeedForward</a></td></tr>
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<tr class="memitem:a796ce2e6878c7a9cb918a7d30b7b45c2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d6a/struct_leg_controller_command.html#a796ce2e6878c7a9cb918a7d30b7b45c2">qDes</a></td></tr>
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<tr class="memitem:a0223a895281a7a8293772c5bee2928a0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d6a/struct_leg_controller_command.html#a0223a895281a7a8293772c5bee2928a0">qdDes</a></td></tr>
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<tr class="memitem:aa18fa836228d1e38f5bc8becd81ea8fd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d6a/struct_leg_controller_command.html#aa18fa836228d1e38f5bc8becd81ea8fd">kpCartesian</a></td></tr>
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<tr class="memitem:ae09b18e018af93dfbca2c9a6e17e5bc7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d6a/struct_leg_controller_command.html#ae09b18e018af93dfbca2c9a6e17e5bc7">kdCartesian</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
struct LegControllerCommand&lt; T &gt;</h3>


<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00023">23</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>
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template&lt;typename T&gt; </div>
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          <td class="memname">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="../../d1/d6a/struct_leg_controller_command.html">LegControllerCommand</a>&lt; T &gt;::<a class="el" href="../../d1/d6a/struct_leg_controller_command.html">LegControllerCommand</a> </td>
          <td>(</td>
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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00025">25</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;{ <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#aa66fb97d3c112966b0eb4c82cd607541">zero</a>(); }</div><div class="ttc" id="struct_leg_controller_command_html_aa66fb97d3c112966b0eb4c82cd607541"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#aa66fb97d3c112966b0eb4c82cd607541">LegControllerCommand::zero</a></div><div class="ttdeci">void zero()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d2d/_leg_controller_8cpp_source.html#l00019">LegController.cpp:19</a></div></div>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void <a class="el" href="../../d1/d6a/struct_leg_controller_command.html">LegControllerCommand</a>&lt; T &gt;::zero </td>
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<p>Zero the leg command so the leg will not output torque </p>

<p>Definition at line <a class="el" href="../../da/d2d/_leg_controller_8cpp_source.html#l00019">19</a> of file <a class="el" href="../../da/d2d/_leg_controller_8cpp_source.html">LegController.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;                                   {</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#afb0e544cbf0f965948916ea3c8839ac8">tauFeedForward</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#adaa50bd4631e1aee42551eb6d8070295">forceFeedForward</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#a796ce2e6878c7a9cb918a7d30b7b45c2">qDes</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#a0223a895281a7a8293772c5bee2928a0">qdDes</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#a73f809f59369d109dfec52056cfe73ed">pDes</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#adde5c17c022ac13e4ee6f9911e67a04b">vDes</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#aa18fa836228d1e38f5bc8becd81ea8fd">kpCartesian</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#ae09b18e018af93dfbca2c9a6e17e5bc7">kdCartesian</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#adaddead1b272b0f2631fc0158dedeac5">kpJoint</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <a class="code" href="../../d1/d6a/struct_leg_controller_command.html#af933954e490da98794606debc8984051">kdJoint</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;}</div><div class="ttc" id="struct_leg_controller_command_html_a796ce2e6878c7a9cb918a7d30b7b45c2"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#a796ce2e6878c7a9cb918a7d30b7b45c2">LegControllerCommand::qDes</a></div><div class="ttdeci">Vec3&lt; T &gt; qDes</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00029">LegController.h:29</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_a0223a895281a7a8293772c5bee2928a0"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#a0223a895281a7a8293772c5bee2928a0">LegControllerCommand::qdDes</a></div><div class="ttdeci">Vec3&lt; T &gt; qdDes</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00029">LegController.h:29</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_ae09b18e018af93dfbca2c9a6e17e5bc7"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#ae09b18e018af93dfbca2c9a6e17e5bc7">LegControllerCommand::kdCartesian</a></div><div class="ttdeci">Mat3&lt; T &gt; kdCartesian</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00030">LegController.h:30</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_adaa50bd4631e1aee42551eb6d8070295"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#adaa50bd4631e1aee42551eb6d8070295">LegControllerCommand::forceFeedForward</a></div><div class="ttdeci">Vec3&lt; T &gt; forceFeedForward</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00029">LegController.h:29</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_adde5c17c022ac13e4ee6f9911e67a04b"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#adde5c17c022ac13e4ee6f9911e67a04b">LegControllerCommand::vDes</a></div><div class="ttdeci">Vec3&lt; T &gt; vDes</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00029">LegController.h:29</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_afb0e544cbf0f965948916ea3c8839ac8"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#afb0e544cbf0f965948916ea3c8839ac8">LegControllerCommand::tauFeedForward</a></div><div class="ttdeci">Vec3&lt; T &gt; tauFeedForward</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00029">LegController.h:29</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_af933954e490da98794606debc8984051"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#af933954e490da98794606debc8984051">LegControllerCommand::kdJoint</a></div><div class="ttdeci">Mat3&lt; T &gt; kdJoint</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00030">LegController.h:30</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_adaddead1b272b0f2631fc0158dedeac5"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#adaddead1b272b0f2631fc0158dedeac5">LegControllerCommand::kpJoint</a></div><div class="ttdeci">Mat3&lt; T &gt; kpJoint</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00030">LegController.h:30</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_aa18fa836228d1e38f5bc8becd81ea8fd"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#aa18fa836228d1e38f5bc8becd81ea8fd">LegControllerCommand::kpCartesian</a></div><div class="ttdeci">Mat3&lt; T &gt; kpCartesian</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00030">LegController.h:30</a></div></div>
<div class="ttc" id="struct_leg_controller_command_html_a73f809f59369d109dfec52056cfe73ed"><div class="ttname"><a href="../../d1/d6a/struct_leg_controller_command.html#a73f809f59369d109dfec52056cfe73ed">LegControllerCommand::pDes</a></div><div class="ttdeci">Vec3&lt; T &gt; pDes</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00029">LegController.h:29</a></div></div>
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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00029">29</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00030">30</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00030">30</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00030">30</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00030">30</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00029">29</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00029">29</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00029">29</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00029">29</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d41/_leg_controller_8h_source.html#l00029">29</a> of file <a class="el" href="../../d0/d41/_leg_controller_8h_source.html">LegController.h</a>.</p>

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